TRAJECTORY TRACKING CONTROL FOR THE MECANUM WHEEL MOBILE ROBOT BY THE DYNAMIC SURFACE CONTROLLER CONNECTED TO THE NEURAL NETWORK

Abstract

This article presents the design of a motion tracking controller for the
Mecanum wheeled autonomous robot (MWMR) using a sliding surface
controller (DSC) connected to a unified neural network (NN) when
checking for disturbances. In the article, we build a mathematical model
of MWMR including a kinematic and dynamic model that considers
uncertain noise. From there, the control DSC fusion network is designed
so that the NN increases its speed despite the component noise of the
MWMR model. The stability of the system is proven according to the
Lyapunov criterion.